Where is the paper for your code? I did not find the paper you mentioned when I searched online.

Hello, I'm also currently doing research on safety reinforcement learning, and your code has great engineering significance. Your project is about merging, and I want to run the code in other traffic scenarios, such as "highway-v0" and "intersection-v0". I've tried setting the environment directly to these, but it didn't run successfully.So, how should I set it up to run in other driving scenarios? Thank you!